Cycles - How can I render only pre-baked textures, and not calculate shadows?
You have to setup a material using all these baked textures and instead of a diffuse shader you have to use an emission shader. 

This video show the technique very well: https://www.youtube.com/watch?v=sB09T--_ZvU

Don't be fooled by the title (cause you said you already know how to bake)